FabFramework.Core: Task-Based Robotic Fabrication Framework

FabFramework is designed around a Task-Based Fabrication methodology, which transforms digital design models into sequential, data-driven robotic tasks. This approach ensures precise fabrication operations through simulation and predefined parameters, following a three-step process. The framework begins with the Design layer, where the user design model is converted into a model consisting of beams and plates with defined geometric attributes. The Fab layer builds on this by adjusting these elements to fit specific fabrication requirements, such as positioning, assembly sequence, and alignment within the robotic workspace. This layer also accommodates unique connection methods and robotic adjustments. Finally, the Task layer sequences the robot’s actions—like picking, placing, and tool changes—to streamline assembly, with frame-based tasks for precise movements and non-frame-based tasks for simpler actions. FabFramework is setup to be integrated with the ICD Virtual Robot Grasshopper Plugin, allowing users to simulate and verify the entire fabrication process digitally before fabrication.

FabFramework构建于基于任务编造的制造方法论之上，该方法论将数字设计模型转化为序列化的、数据驱动的机器人任务。此方法通过模拟和预定义的参数确保了精确的制造操作，遵循三步流程。该框架始于设计层，在此层用户设计模型被转化为由具有定义几何属性的梁和板组成的模型。制造层在此基础上进行调整，以适应特定的制造要求，如定位、组装顺序以及机器人工作空间内的对齐。此层亦包容独特的连接方法和机器人调整。最终，任务层对机器人的动作进行序列化，如拾取、放置和工具更换，以简化组装过程，其中基于框架的任务用于精确运动，而非基于框架的任务则用于简单动作。FabFramework配置为与ICD虚拟机器人Grasshopper插件集成，使用户能够在实际制造前通过数字化模拟和验证整个制造流程。